The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
The EKF is producing a state estimate that comprises 15 dimensions. When you only measure a subset of them, the covariance in the dimensions that are not measured will explode. The filter's behaviour in this case will be highly unpredictable.
You need to make sure that you are measuring:
Absolute position (all three dimensions) _or_ velocity. The latter will result in boundless error growth, but the filter will behave. Absolute orientation (all three dimensions) _or_ velocity. As above.
Secondly, I would expect that fusing accelerometer data only will definitely result in a runaway state estimate, even if you have the rest of it configured correctly.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
